version: 66.08
glider: 167
mission: 6
dive: 279
start: 11 1 110 8 1 54
data:
$ID,167
$MISSION,6
$DIVE,279
$N_DIVES,289
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,375
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54474.246
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.491346
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,011110,075101,2120.552,12600.646,42,1.2,43,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.6
$GPS2,011110,080132,2120.491,12600.598,11,1.9,11,-2.9
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,12.1,7643,-15.8,-11.111
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-228.7,0.0,0.0,0,100,0.00,0.00,-80.22,0.000,2,0.000,0.000,112,854,3480,0,0,0,0,0,0
$GC,103,-0.72,-228.7,6.2,-12.3,11,127,9.62,1.90,-7.50,0.000,4,0.220,0.028,2568,2235,3962,0,0,0,0,0,0
$GC,141,-0.72,-228.7,26.7,-50.6,16,150,0.00,2.22,0.00,0.000,6,0.000,0.033,2568,779,3964,0,0,0,0,0,0
$GC,466,-0.72,-228.7,128.5,-25.8,77,474,0.00,0.85,0.00,0.000,4,0.000,0.041,2568,192,3964,0,0,0,0,0,0
$GC,725,-0.72,-228.7,192.8,-19.6,123,731,0.00,0.77,0.00,0.000,6,0.000,0.020,2564,886,3965,0,0,0,0,0,0
$GC,1062,-0.72,-228.7,256.0,-18.9,184,1071,0.00,1.02,0.00,0.000,4,0.000,0.039,2564,189,3966,0,0,0,0,0,0
$GC,1118,-0.72,-228.7,267.2,-20.3,193,1125,0.00,0.80,0.00,0.000,6,0.000,0.020,2560,907,3966,0,0,0,0,0,0
$GC,1458,-0.72,-228.7,326.7,-16.4,254,1466,0.00,1.05,0.00,0.000,4,0.000,0.039,2561,191,3967,0,0,0,0,0,0
$GC,1581,-0.72,-228.7,346.8,-17.0,275,1588,0.08,0.77,0.00,0.000,6,0.153,0.020,2582,876,3966,0,0,0,0,0,0
$GC,1922,-0.72,-228.7,393.1,-14.0,336,1931,0.00,1.88,0.00,0.000,4,0.000,0.017,2575,2207,3966,0,0,0,0,0,0
$GC,1948,-0.72,-228.7,396.8,-13.5,340,1958,0.00,2.15,0.00,0.000,6,0.000,0.032,2575,782,3965,0,0,0,0,0,0
$GC,2294,-0.72,-228.7,442.2,-12.3,401,2300,0.00,0.85,0.00,0.000,4,0.000,0.043,2575,193,3964,0,0,0,0,0,0
$GC,2343,-0.72,-228.7,448.4,-12.6,409,2350,0.00,0.77,0.00,0.000,6,0.000,0.021,2575,865,3963,0,0,0,0,0,0
$GC,2682,-0.72,-228.7,489.1,-11.9,470,2691,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2197,3961,0,0,0,0,0,0
$GC,2731,-0.72,-228.7,494.1,-9.5,478,2739,0.00,2.12,0.00,0.000,6,0.000,0.034,2574,797,3960,0,0,0,0,0,0
$GC,3066,-0.72,-228.7,532.6,-11.7,514,3070,0.00,1.98,0.00,0.000,4,0.000,0.018,2575,2187,3958,0,0,0,0,0,0
$GC,3116,-0.72,-228.7,537.9,-9.4,518,3123,0.00,2.12,0.00,0.000,6,0.000,0.034,2573,785,3958,0,0,0,0,0,0
$GC,3442,-0.72,-228.7,573.7,-10.4,549,3446,0.00,2.00,0.00,0.000,4,0.000,0.019,2574,2188,3955,0,0,0,0,0,0
$GC,3560,-0.72,-228.7,584.0,-8.9,559,3567,0.00,2.08,0.00,0.000,6,0.000,0.035,2574,813,3954,0,0,0,0,0,0
$GC,3885,-0.72,-228.7,615.0,-9.7,583,3889,0.00,1.98,0.00,0.000,4,0.000,0.019,2574,2186,3951,0,0,0,0,0,0
$GC,3912,-0.72,-228.7,618.0,-8.7,584,3916,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,825,3951,0,0,0,0,0,0
$GC,4242,-0.72,-228.7,651.1,-10.3,600,4245,0.00,1.98,0.00,0.000,4,0.000,0.019,2574,2194,3948,0,0,0,0,0,0
$GC,4269,-0.72,-228.7,654.1,-9.0,601,4273,0.00,2.08,0.00,0.000,6,0.000,0.037,2575,818,3948,0,0,0,0,0,0
$GC,4592,-0.72,-228.7,684.9,-9.4,617,4596,0.00,1.98,0.00,0.000,4,0.000,0.020,2574,2184,3945,0,0,0,0,0,0
$GC,4662,-0.72,-228.7,690.9,-8.3,620,4666,0.00,2.05,0.00,0.000,6,0.000,0.037,2574,841,3944,0,0,0,0,0,0
$GC,4990,-0.72,-228.7,721.9,-9.4,636,4994,0.00,0.95,0.00,0.000,4,0.000,0.047,2574,202,3942,0,0,0,0,0,0
$GC,5062,-0.72,-228.7,729.3,-10.1,639,5066,0.00,0.85,0.00,0.000,6,0.000,0.022,2574,867,3941,0,0,0,0,0,0
$GC,5392,-0.72,-228.7,759.4,-9.1,655,5396,0.00,1.88,0.00,0.000,4,0.000,0.021,2574,2186,3938,0,0,0,0,0,0
$GC,5461,-0.72,-228.7,765.2,-7.6,658,5465,0.00,2.05,0.00,0.000,6,0.000,0.037,2574,845,3938,0,0,0,0,0,0
$GC,5790,-0.72,-228.7,794.2,-8.9,674,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,845,3936,0,0,0,0,0,0
$GC,6098,-0.72,-228.7,821.0,-8.7,689,6102,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2188,3934,0,0,0,0,0,0
$GC,6167,-0.72,-228.7,826.4,-7.4,692,6171,0.00,2.05,0.00,0.000,6,0.000,0.038,2574,847,3934,0,0,0,0,0,0
$GC,6502,-0.72,-228.7,855.8,-9.0,708,6505,0.00,1.92,0.00,0.000,4,0.000,0.021,2574,2189,3931,0,0,0,0,0,0
$GC,6570,-0.72,-228.7,861.5,-8.1,711,6574,0.00,2.05,0.00,0.000,6,0.000,0.038,2574,854,3931,0,0,0,0,0,0
$GC,6905,-0.72,-228.7,890.8,-8.8,727,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,854,3929,0,0,0,0,0,0
$GC,7213,-0.72,-228.7,918.0,-8.8,742,7217,0.00,1.90,0.00,0.000,4,0.000,0.021,2574,2182,3927,0,0,0,0,0,0
$GC,7274,-0.72,-228.7,923.1,-8.4,744,7282,0.00,2.00,0.00,0.000,6,0.000,0.038,2574,870,3927,0,0,0,0,0,0
$GC,7592,-0.72,-228.7,951.0,-9.1,760,7596,0.00,1.90,0.00,0.000,4,0.000,0.021,2574,2193,3925,0,0,0,0,0,0
$GC,7620,-0.72,-228.7,953.7,-8.5,761,7624,0.00,2.05,0.00,0.000,6,0.000,0.039,2574,864,3924,0,0,0,0,0,0
$GC,7950,-0.72,-228.7,982.1,-8.7,777,7954,0.00,1.95,0.00,0.000,4,0.000,0.021,2574,2184,3923,0,0,0,0,0,0
$GC,7977,-0.72,-228.7,984.5,-8.1,778,7981,0.00,2.00,0.00,0.000,6,0.000,0.039,2574,874,3923,0,0,0,0,0,0
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8179,begin apogee
$GC,8185,-0.14,0.0,1001.0,8.2,788,8377,0.57,0.00,182.55,1.410,4,0.112,0.000,2769,1031,3028,0,0,0,0,0,0
$STATE,8378,end apogee,CONTROL_FINISHED_OK
$STATE,8378,begin climb
$GC,8380,0.72,228.7,1009.9,0.0,797,8585,0.77,0.00,197.45,1.350,6,0.050,0.000,3060,1030,2095,0,0,0,0,0,0
$GC,8909,0.72,228.7,934.1,18.0,822,8912,0.00,2.00,0.00,0.000,4,0.000,0.025,3060,2366,2086,0,0,0,0,0,0
$GC,9027,0.72,228.7,913.6,17.2,827,9031,0.00,2.10,0.00,0.000,6,0.000,0.037,3068,1003,2085,0,0,0,0,0,0
$GC,9348,0.72,228.7,855.4,18.5,843,9352,0.00,2.00,0.00,0.000,4,0.000,0.023,3068,2376,2084,0,0,0,0,0,0
$GC,9372,0.72,228.7,851.2,18.4,844,9376,0.00,2.10,0.00,0.000,6,0.000,0.037,3078,1001,2084,0,0,0,0,0,0
$GC,9700,0.72,228.7,790.0,18.5,860,9703,0.00,2.00,0.00,0.000,4,0.000,0.024,3078,2368,2083,0,0,0,0,0,0
$GC,9760,0.72,228.7,779.1,17.9,862,9767,0.12,2.08,0.00,0.000,6,0.188,0.037,3056,1006,2083,0,0,0,0,0,0
$GC,10079,0.72,228.7,727.0,16.3,878,10082,0.00,2.00,0.00,0.000,4,0.000,0.023,3055,2364,2082,0,0,0,0,0,0
$GC,10156,0.72,228.7,714.0,15.8,881,10160,0.00,2.05,0.00,0.000,6,0.000,0.037,3060,1016,2082,0,0,0,0,0,0
$GC,10480,0.72,228.7,661.0,16.8,897,10484,0.00,1.27,0.00,0.000,4,0.000,0.047,3066,186,2081,0,0,0,0,0,0
$GC,10513,0.72,228.7,654.7,17.3,898,10517,0.00,1.15,0.00,0.000,6,0.000,0.025,3067,1015,2081,0,0,0,0,0,0
$GC,10835,0.72,228.7,601.2,17.1,914,10839,0.00,2.00,0.00,0.000,4,0.000,0.024,3067,2384,2081,0,0,0,0,0,0
$GC,10927,0.72,228.7,587.0,15.3,921,10931,0.00,2.08,0.00,0.000,6,0.000,0.037,3076,1031,2081,0,0,0,0,0,0
$GC,11254,0.72,228.7,536.7,15.4,951,11258,0.00,1.27,0.00,0.000,4,0.000,0.047,3082,194,2081,0,0,0,0,0,0
$GC,11279,0.72,228.7,532.7,16.5,953,11283,0.00,1.15,0.00,0.000,6,0.000,0.026,3082,1019,2081,0,0,0,0,0,0
$GC,11606,0.72,228.7,477.7,16.2,996,11614,0.00,2.03,0.00,0.000,4,0.000,0.024,3082,2393,2080,0,0,0,0,0,0
$GC,11682,0.72,228.7,466.7,15.6,1009,11691,0.12,2.05,0.00,0.000,6,0.184,0.036,3060,1035,2080,0,0,0,0,0,0
$GC,12018,0.72,228.7,423.0,13.1,1070,12026,0.00,2.00,0.00,0.000,4,0.000,0.024,3060,2384,2080,0,0,0,0,0,0
$GC,12040,0.72,228.7,419.6,12.8,1073,12048,0.00,2.08,0.00,0.000,6,0.000,0.037,3063,1027,2079,0,0,0,0,0,0
$GC,12373,0.72,228.7,375.5,13.3,1134,12381,0.00,2.00,0.00,0.000,4,0.000,0.022,3063,2395,2079,0,0,0,0,0,0
$GC,12395,0.72,228.7,372.9,12.2,1137,12402,0.00,2.08,0.00,0.000,6,0.000,0.036,3071,1021,2079,0,0,0,0,0,0
$GC,12732,0.72,228.7,328.5,13.4,1198,12740,0.00,1.25,0.00,0.000,4,0.000,0.046,3079,193,2079,0,0,0,0,0,0
$GC,12788,0.72,228.7,321.1,14.7,1207,12795,0.00,1.17,0.00,0.000,6,0.000,0.024,3078,1047,2080,0,0,0,0,0,0
$GC,13120,0.72,228.7,277.5,11.9,1268,13128,0.00,1.30,0.00,0.000,4,0.000,0.044,3084,192,2079,0,0,0,0,0,0
$GC,13173,0.72,228.7,270.8,13.3,1277,13181,0.08,1.12,0.00,0.000,6,0.164,0.024,3061,1017,2080,0,0,0,0,0,0
$GC,13509,0.78,275.0,233.9,9.6,1338,13550,0.00,2.05,36.12,0.817,4,0.000,0.021,3061,2388,1906,0,0,0,0,0,0
$GC,13601,0.78,275.0,223.6,12.0,1353,13608,0.00,2.05,0.00,0.000,6,0.000,0.034,3066,1040,1904,0,0,0,0,0,0
$GC,13937,0.80,295.2,185.4,10.5,1414,13959,0.00,2.03,17.35,0.742,4,0.000,0.019,3066,2393,1824,0,0,0,0,0,0
$GC,14080,0.84,329.1,170.5,10.0,1439,14114,0.00,2.00,28.70,0.743,6,0.000,0.034,3072,1069,1687,0,0,0,0,0,0
$GC,14441,0.92,393.8,137.5,9.0,1504,14501,0.12,1.33,52.20,0.715,4,0.090,0.041,3136,188,1423,0,0,0,0,0,0
$GC,14670,0.92,393.8,105.3,15.4,1543,14678,0.00,1.17,0.00,0.000,6,0.000,0.020,3135,1092,1419,0,0,0,0,0,0
$GC,14994,0.94,410.7,67.4,10.6,1604,15010,0.00,0.00,14.35,0.614,6,0.000,0.000,3136,1094,1353,0,0,0,0,0,0
$GC,15333,0.94,410.7,22.0,14.2,1666,15341,0.00,1.35,0.00,0.000,4,0.000,0.041,3140,197,1351,0,0,0,0,0,0
$GC,15407,0.96,423.5,12.3,10.7,1679,15423,0.00,1.15,11.50,0.555,6,0.000,0.019,3140,1093,1301,0,0,0,0,0,0
$STATE,15471,end climb,SURFACE_DEPTH_REACHED
$STATE,15471,begin surface coast
$FINISH,0.5,1.009771
$STATE,15497,end surface coast,CONTROL_FINISHED_OK
$STATE,15497,begin surface
$SM_CCo,15575,0.00,0.000,0,0,1298,424.61
$SM_GC,1.41,7.70,0.00,0.00,0.032,0.000,0.000,112,783,1298,-8.37,-0.20,424.61
$IRIDIUM_FIX,2113.32,12604.53,011110,070717
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,28.30
$XPDR_PINGS,0
$24V_AH,22.9,52.104
$10V_AH,10.2,47.949
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.200,120.875,540.225,0.000,0.000,59.521,79.268,230.311,0.000,0.000,12.034,4126.261,6855.122,612.620,4052.959,535.102,0.000,2126.756,0.000,3703.403,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,59.670,1409.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.703,1487.180,1928.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,97065,1694
$CAP_FILE_SIZE,179088,0
$CFSIZE,260165632,148627456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014, 67.4,1
$GPS,011110,122237,2122.952,12600.930,31,1.3,31,-2.9